Automatic clean machine control method and automatic clean machine

ABSTRACT

A computer readable recording media recording at least one program. An automatic clean machine control method is performed if the program is executed, which comprises: (a) input a drawing or a picture to an automatic clean machine by a first user, wherein the automatic clean machine acquires a map based on the drawing or the picture; (b) directly selecting a region to be cleaned on the map; and (c) controlling the automatic clean machine to perform a first clean operation to the region to be cleaned based on the map.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a continuation of applicant's earlier application,Ser. No. 15/174,985, filed 2016 Jun. 6, and is included herein byreference.

BACKGROUND OF THE INVENTION 1. Field of the Invention

The present invention relates to an automatic clean machine controlmethod and an automatic clean machine, and particularly relates to anautomatic clean machine control method and an automatic clean machinewhich can control a clean region efficiently.

2. Description of the Prior Art

The technique for an automatic clean machine (ex. a robot vacuumcleaner) greatly improves recently, thus a price for the automatic cleanmachine becomes lower. Accordingly, many families apply the automaticclean machine to process most clean jobs.

However, a conventional automatic clean machine only can clean a fixedclean region. Complex setting must be provided to the automatic cleanmachine if such fixed clean region is desired to be changed.Alternatively, the automatic clean machine is manually moved orcontrolled (ex. remotely control in a visible range) to change the cleanregion.

Therefore, an automatic clean machine control method and an automaticclean machine which can efficiently control the clean region are needed.

SUMMARY OF THE INVENTION

Accordingly, one objective of the present invention is to provide anautomatic clean machine control method thereby the user can easilyselect the region to be cleaned.

Another objective of the present invention is to provide an automaticclean machine thereby the user can easily select the region to becleaned.

One embodiment of the present invention discloses: a computer readablerecording media recording at least one program. An automatic cleanmachine control method is performed if the program is executed, whichcomprises: (a) input a drawing or a picture to an automatic cleanmachine by a first user, wherein the automatic clean machine acquires amap based on the drawing or the picture; (b) directly selecting a regionto be cleaned on the map; and (c) controlling the automatic cleanmachine to perform a first clean operation to the region to be cleanedbased on the map.

Another embodiment of the present invention discloses: an automaticclean machine comprising: a storage device, configured to store a map,wherein the automatic clean machine acquires the map based on a drawinginput by a first user or based on a picture input by the first user; anda control circuit, configured to perform the following steps: (a)receiving a select signal generated via directly selecting a region tobe cleaned on the map; and (b) controlling the automatic clean machineto perform a first clean operation to the region to be cleaned based onthe map.

In view of above-mentioned embodiments, the user can easily control theautomatic clean machine to clean a desired region. No complex setting ornon-efficient conventional methods are needed for changing the cleanregion of the automatic clean machine. Besides, the user can control theautomatic clean machine via a portable electronic device, thus thecontrol becomes more convenient.

These and other objectives of the present invention will no doubt becomeobvious to those of ordinary skill in the art after reading thefollowing detailed description of the preferred embodiment that isillustrated in the various figures and drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a flow chart illustrating an automatic clean machine controlmethod according to one embodiment of the present invention.

FIG. 2-FIG. 9 are schematic diagrams illustrating automatic cleanmachine control methods according to different embodiments of thepresent invention.

FIG. 10 is a block diagram illustrating an automatic clean machineaccording to one embodiment of the present invention.

DETAILED DESCRIPTION

FIG. 1 is a flow chart illustrating an automatic clean machine controlmethod according to one embodiment of the present invention, whichcomprises following steps:

Step 101

Control the automatic clean machine to acquire a map.

Step 103

Select at least part of the map as a region to be cleaned.

Step 105

Control the automatic clean machine to perform the first clean operationto the region to be cleaned.

Please note, the first clean operation mentioned here is only fordistinguishing from other clean operations. The term “first” mentionedhere does not mean any order or any type. In following descriptions,several embodiments are provided for explaining each step.

FIG. 2 illustrates an embodiment for the map. In such embodiment, themap 200 is a 2-dimensional figure, which illustrates blocks BL_1-BL_7 inthe house. The blocks BL_1-BL_7 have different functions. A conventionalautomatic clean machine can only clean a fixed region, thus only asingle block or neighboring blocks can be cleaned. For example, only theblock BL_3 or neighboring blocks BL_2, BL_4 can be cleaned. However, theautomatic clean machine control method provided by the present inventioncan provide a select function for the user, such that the user canselect a block to be cleaned (i.e. the region to be cleaned in theabove-mentioned step 103). Please refer to FIG. 3, in this embodimentthe user selects blocks BL_1 and BL_6, which are not adjacent to eachother. After that, the automatic clean machine will start to clean theselected blocks.

Many methods can be applied to select regions to be cleaned. Forexample, as shown in FIG. 2, many blocks are defined on the map and asleast one block is selected as the region to be cleaned. In anotherexample, no block is defined on the map, in such case the user candirectly select the region to be cleaned on the map (ex. drawing acircle). In one embodiment, a user can generate a select signal to theautomatic clean machine via a portable electronic device (ex. a mobilephone or a plate computer) to select the region to be cleaned. In oneembodiment, the select signal is from an external device (ex. a remotecontroller), and responds to a clean command triggered by a user via theexternal device.

The map can be presented in many aspects and is not limited to theaspect illustrated in FIG. 2. FIG. 4 illustrates a map according toanother embodiment. In such embodiment, the map is also a 2-dimensionalfigure. As illustrated in FIG. 4, the map 400 illustrates furniture F_1,F_2, F_3 in a living room. The user can select a region to be cleaned RCas illustrated in FIG. 4, and then the automatic clean machine willclean the region to be cleaned RC. Please note, the map can be a3-dimentsional map rather than limited to 2-dimensional figuresillustrated in above-mentioned embodiments. As illustrated in FIG. 5,the map 500 is a 3-dimentsional map. The user can select a region to becleaned RC as illustrated in FIG. 5, and then the automatic cleanmachine will clean the region to be cleaned RC.

In view of above-mentioned embodiments, the map is generated viadrawing. However, the map is not limited to be generated via suchmethod. For example, the automatic clean machine always comprises afunction of detecting a surrounding environment and a function ofcomputing/recording a clean path. Accordingly, in one embodiment, theautomatic clean machine automatically build the map based on at leastone clean path recorded in the automatic clean machine or based on thedetected surrounding environment. Alternatively, the map can begenerated via a picture. As illustrated in FIG. 6, a picture istransmitted to the automatic clean machine and then the automatic cleanmachine builds a corresponding map according to the picture andaccordingly plans a clean path. Therefore, after the user selects aregion to be cleaned RC on the picture, the automatic clean machine candetermine a region on the map corresponding to the region to be cleanedRC and accordingly perform a clean operation. In one embodiment, the mapcan be a combination of a picture and a 2-dimensional figure. Forexample, a 2-dimensional figure is firstly provided to the automaticclean machine, and then a picture is provided. Also, the relationsbetween objects on the 2-dimensional figure and objects in the pictureare defined. After that, the automatic clean machine can plan a moreefficient clean path according to these relations.

An automatic clean machine always can detect if any obstacle existsnearby to plan a clean path. If the obstacle information can be providedto the automatic clean machine rather than generated via the automaticclean machine's detecting, efficiency for planning the clean path can beimproved. Therefore, in one embodiment the obstacle information isprovided to the map, and the automatic clean machine will plan the cleanpath according to the obstacle information, to perform above-mentionedfirst clean operation.

In one embodiment, the obstacle information can be provided to theautomatic clean machine via following methods: a picture (generated byphoto shooting), directly marking or generated by detecting surroundingenvironment via the automatic clean machine. Take FIG. 4 for example, inone embodiment the furniture F_1, F_2 and F_3 are directly marked on themap. Accordingly, the automatic clean machine will regard the furnitureF_1, F_2 and F_3 as obstacles and plan a clean path to avoid theseobstacles. Alternatively, as illustrated in FIG. 7, a 3-dimensionalfigure corresponding to FIG. 4 is provided, such that the automaticclean machine can identify these obstacles according to the3-dimensional figure. Since the automatic clean machine always movesclose to the ground and has a low height, the automatic clean machinedoes not need a whole shape of the obstacle. Accordingly, in suchembodiment, only the edge information for the obstacles is provided tothe automatic clean machine. Take FIG. 7 for example, only theinformation for edges E_1, E_2 and E_3 of the furniture F_1, F_2 and F_3are provided to the automatic clean machine.

As above-mentioned, the obstacle information can be generated via apicture. As illustrated in FIG. 8, the obstacle information is providedto the automatic clean machine via a picture. By this way, the automaticclean machine can determine obstacles' locations and plan a clean pathto avoid these obstacles. As above-mentioned the automatic clean machinealways moves close to the ground and has a low height, the automaticclean machine does not need a whole shape of the object. Therefore, insuch embodiment only the pictures comprising lower parts of the objectsare provided to the automatic clean machine. Also, obstacles' locationscan be determined and recorded via the above-mentioned method: theautomatic clean machine detects surrounding environment, andplans/records a clean path.

In one embodiment, a guiding device generating a guiding signal (ex. aRF signal) is provided, such that the automatic clean machine canperform a second clean action according to the guiding signal. Pleasenote the second clean operation described here is different from theabove-mentioned clean operation which is performed based on theselecting of the user. Accordingly, such clean operation is named “asecond clean operation” to be distinguished from the above-mentionedfirst clean operation, but the term “second” does not mean to limit theorder or the type. The guiding signal is a signal responding to anactive signal from the automatic clean machine, which is generated afterthe guiding device receives the active signal. In such embodiment, theguiding device generates the guiding signal after receives the activesignal from the automatic clean machine and triggered by the activesignal, rather than actively generate the guiding signal.

Please refer to FIG. 9. As illustrated in FIG. 9, guiding devices L_1,L_2, L_3 and L_4 are provided in blocks BL_1, BL_2, BL_3 and BL_4 for ahouse. The automatic clean machine cleans the neighboring regions forguiding devices L_1, L_2, L_3 and L_4 according to guiding signals ofguiding devices L_1, L_2, L_3 and L_4. In one embodiment, the automaticclean machine takes back the guiding device after clean the neighboringregions for guiding devices. The taking back operation can be performedvia various methods, for example, magnetic adsorption or reel.

Please note, the above-mentioned embodiments are not limited to beimplemented together. For example, the automatic clean machine can planthe clean path only according to obstacle information but not accordingto the map. Besides, the embodiment that the automatic clean machineperforms a clean operation according to a guiding signal from theguiding device can be independently implemented. The above-mentionedembodiments can be implemented via a computer readable recording mediasuch as a hard disk or an optical disc. For example, store a program inthe computer readable recording media and execute such program toimplement above-mentioned embodiments.

FIG. 10 is a block diagram illustrating an automatic clean machineaccording to one embodiment of the present invention. As illustrated inFIG. 10, the automatic clean machine 1000 comprises: a storage device1001, a control module 1002, a clean path computing module 1003, a mapcomputing module 1005, an obstacle determining module 1007 and a guidingsignal detecting module 1009. The storage device 1001 (ex. a memory) isconfigured to store above-mentioned map or obstacle information, whichcan come from an external source or generated by the map computingmodule 1005, the obstacle determining module 1007. The clean pathcomputing module 1003 is configured to compute a clean path according toat least one of the map, the obstacle information and the guidingsignal. The obstacle determining module 1007 is configured to determinea location of the obstacle according to the obstacle information, whichcan be acquired via receiving or computing. The guiding signal detectingmodule 1009 is configured to detect a guiding signal. The control module1002 is configured to control the operations for the automatic cleanmachine 1000 and operations for modules in the automatic clean machine1000, for example, receiving the above-mentioned select signal andcontrolling the automatic clean machine 1000 to perform a cleanoperation according to the clean path generated by the clean pathcomputing module 1003.

Please note, the devices and the connection in FIG. 10 are only forexample and do not mean to limit the scope of the present application.Persons skilled in the art can vary the devices and connection in FIG.10 according to above-mentioned embodiments. For example, the obstacledetermining module 1007 can directly connect to the clean path computingmodule 1003 but not connect to the storage device 1001. Alternatively,if the map is provided only via an external source, the map computingmodule 1005 can be removed from the automatic clean machine 1000. Thecontrol module 1002, the clean path computing module 1003, the mapcomputing module 1005, the obstacle determining module 1007 and theguiding signal detecting module 1009 can be implemented by hardware (ex.a circuit) or hardware with software. In one embodiment, differentsoftware is written into a processor to implement the functions ofdifferent modules.

In view of above-mentioned embodiments, the user can easily control theautomatic clean machine to clean a desired region. No complex setting ornon-efficient conventional methods are needed for changing the cleanregion of the automatic clean machine. Besides, the user can control theautomatic clean machine via a portable electronic device, thus thecontrol becomes more convenient.

Those skilled in the art will readily observe that numerousmodifications and alterations of the device and method may be made whileretaining the teachings of the invention. Accordingly, the abovedisclosure should be construed as limited only by the metes and boundsof the appended claims.

What is claimed is:
 1. A computer readable recording media, recording atleast one program, an automatic clean machine control method isperformed if the program is executed, which comprises: (a) input adrawing or a picture to an automatic clean machine by a first user,wherein the automatic clean machine acquires a map based on the drawingor the picture; (b) directly selecting a region to be cleaned on themap; and (c) controlling the automatic clean machine to perform a firstclean operation to the region to be cleaned based on the map.
 2. Thecomputer readable recording media of claim 1, wherein the step (a)controls the automatic clean machine to automatically build the mapbased on at least one clean path recorded in the automatic cleanmachine.
 3. The computer readable recording media of claim 1, whereinthe map is a 2-dimensional drawing or a 3-dimensional drawing.
 4. Thecomputer readable recording media of claim 1, wherein the automaticclean machine control method further comprises: providing obstacleinformation on the map; wherein the step (c) controls the automaticclean machine to plan a clean path according to the obstacle informationto perform the first clean operation.
 5. The computer readable recordingmedia of claim 4, wherein the obstacle information comprises an edge forat least one object comprised in the map.
 6. The computer readablerecording media of claim 4, wherein the obstacle information is providedon the map via directly marking on the picture.
 7. The computer readablerecording media of claim 4, wherein the obstacle information is providedby detecting a surrounding environment via the automatic clean machine.8. An automatic clean machine, comprising: a storage device, configuredto store a map, wherein the automatic clean machine acquires the mapbased on a drawing input by a first user or based on a picture input bythe first user; and a control circuit, configured to perform thefollowing steps: (a) receiving a select signal generated via directlyselecting a region to be cleaned on the map; and (b) controlling theautomatic clean machine to perform a first clean operation to the regionto be cleaned based on the map.
 9. The automatic clean machine of claim8, further comprising a map computing circuit, wherein the map isestablished based on at least one clean path recorded in the automaticclean machine via the map computing circuit.
 10. The automatic cleanmachine of claim 8, wherein the map is a 2-dimensional drawing or a3-dimensional drawing.
 11. The automatic clean machine of claim 8,wherein the map further comprises obstacle information; wherein the step(b) controls the automatic clean machine to plan a clean path accordingto the obstacle information to perform the first clean operation. 12.The automatic clean machine of claim 11, wherein the obstacleinformation comprises an edge for at least one object comprised in themap.
 13. The automatic clean machine of claim 11, wherein the obstacleinformation is provided on the map via directly marking on the picture.14. The automatic clean machine of claim 11, wherein the obstacleinformation is provided by detecting a surrounding environment via theautomatic clean machine.